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EP2171549A1 - Dispositif de sécurité pour la commande par plusieurs canaux d'un dispositif de la technique de sécurité - Google Patents

Dispositif de sécurité pour la commande par plusieurs canaux d'un dispositif de la technique de sécurité

Info

Publication number
EP2171549A1
EP2171549A1 EP08773927A EP08773927A EP2171549A1 EP 2171549 A1 EP2171549 A1 EP 2171549A1 EP 08773927 A EP08773927 A EP 08773927A EP 08773927 A EP08773927 A EP 08773927A EP 2171549 A1 EP2171549 A1 EP 2171549A1
Authority
EP
European Patent Office
Prior art keywords
signal
safety
control device
control
input
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08773927A
Other languages
German (de)
English (en)
Other versions
EP2171549B1 (fr
Inventor
Henning Frevert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Phoenix Contact GmbH and Co KG
Original Assignee
Phoenix Contact GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Phoenix Contact GmbH and Co KG filed Critical Phoenix Contact GmbH and Co KG
Priority to EP10002850.5A priority Critical patent/EP2202592B1/fr
Publication of EP2171549A1 publication Critical patent/EP2171549A1/fr
Application granted granted Critical
Publication of EP2171549B1 publication Critical patent/EP2171549B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
    • H01H47/002—Monitoring or fail-safe circuits
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
    • H01H47/002—Monitoring or fail-safe circuits
    • H01H47/004—Monitoring or fail-safe circuits using plural redundant serial connected relay operated contacts in controlled circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection

Definitions

  • the patent application no. 10 2006 001805 discloses a multi-channel safety device with a safety device such as an industrial robot as a component of an automation system or the entire automation equipment can be moved to a secure state.
  • a safe state is, for example, when the power supply of the industrial robot or the automation system is switched off or ariesst ⁇ r is locked, which prevents access to the industrial robot.
  • Safety device has a controller controlled by a microprocessor and a further, purely hardware-based control device.
  • the hardware-based control device is characterized in that it is not controlled by a microprocessor, but uses a circuit implementation, preferably a monoflop as a switching or control unit. Both controllers are supplied with a modulated input signal.
  • the modulation signal indicates whether the microprocessor-controlled controller is operating properly.
  • the modulation signal indicates whether the microprocessor safety-relevant programs or program parts are processed correctly.
  • a safety-relevant program can execute a diagnostic procedure, check the power supply of the control device, query system parameters, such as, for example, the contact positions of a relay controlled by the control devices, poll the operating state of the hardware-based control device cyclically and the like. This will persist if the microprocessor does not handle security-related programs or program parts that may be subroutines as specified
  • a safety-related device can be moved from the hardware-based control device to a safe state, even if the microprocessor-controlled control device operates incorrectly.
  • the mono-time must not be longer than the specified safety cut-off time.
  • Safety-critical faults in the hardware-based controller can be detected by the microprocessor-controlled controller since it can not detect the transfer function of the hardware-based controller, e.g. B. the transfer function of the monoflop, is known, and also be supplied to the input and output of the hardware-based control device. From the transfer function and the
  • the microprocessor-controlled controller can calculate the expected output of the hardware-based control device and then compare this with the fed-back output signal. If the two signals do not match, the microprocessor-controlled control device switches on the switching device in such a way that the safety-related device can be moved to the safe state.
  • Automation systems generally include fieldbus systems, to which actuators, sensors and / or subordinate control and monitoring devices can be connected.
  • a faulty safety component eg. B. an actuator or even the entire automation system can be moved to a secure state.
  • a defined input signal which is to drive the automation system into the safe state, is always interpreted as a switch-off signal.
  • equipment and equipment belonging to a particular safety category uses multi-channel monitoring systems that contain independently operating subsystems, each of which can drive the equipment or individual equipment to a secure state.
  • a core idea of the invention is to provide measures by which the microcomputer controlled Control device and / or the hardware-based control device detect short circuits and cross-circuits in the lines to and from a sensor and can drive the monitored safety device in the secure state in response to a detected short circuit or cross-circuit.
  • An additional or optional measure is to deactivate the hardware-based safety device when the microprocessor-controlled control device is no longer able to drive the safety-related device to a safe state when the safety-related device is started or started up. In this case, the hardware-based control device keeps the safety device in the safe state, ie the safety device can not be operated.
  • the first monitoring signal indicates whether the microprocessor of the first controller is operating in a specified manner.
  • a second control device and one of the first and second control device can be controlled
  • the switching device can turn on the safety device or drive in a secure state. At this point it should be mentioned that advantageously the switching device switches on the safety-related device when it is activated by both control devices, whereas the safety-related device can be moved into a secured state if it is deactivated by at least one of the two control devices.
  • the second control device has a hardware-based
  • Switching device which controls the switching device in response to the monitoring signal such that the safety device can be driven in a faulty operation of the first control device in a safe state.
  • the first control device is associated with a device for generating an enable signal for the second control device. This way will ensures that, for example, in a requested turn on the safety device switching on only takes place when the first microprocessor-controlled control device operates properly.
  • no release signal is applied to the second control device so that the safety-related device remains in the safe state. An error occurs, for example, when the first control device, the safety device can not turn off at all.
  • the signal generating device In order to be able to detect a faulty or error-free operation of the first control device, the signal generating device generates an alternating signal when the first control device, in particular the microprocessor, operates without error, whereas a DC signal is generated when the first control device, preferably the microprocessor, malfunctions.
  • the switching device has a first safety relay assigned to the first control device and a second safety relay assigned to the second control device.
  • first control device and its associated first safety relay as channel 1 and the second control device and its associated second safety relay can be referred to as channel 2 of the multi-channel safety device.
  • each Safety relay has positively driven contacts. This means that each safety relay has at least one NC contact and one NO contact, which are rigidly coupled together. As a result, one contact is inevitably open and the other
  • the enable signal is only generated if the first safety relay functions correctly. This ensures that the second control device can detect a safety-critical failure in the channel 1, in particular when a state change of
  • a change of state means a change in the operating mode of the system, for example when the safety device is to be started up. It should already be noted at this point that the second control device only receives the release signal in the event of a state change if the first safety relay assigned to the first control device operates properly. If not, the second control device receives no enable signal, which means that the second control device does not control its associated second safety relay, so that the safety device dwells in the safe state.
  • the monoflop In order for the monoflop to remain activated during proper operation, the monoflop has a circuit for holding the master reset input at the level of the enable signal.
  • the monoflop is automatically reset if no signal or a static signal is applied to the trigger input, which indicates faulty operation, in particular of the microprocessor of the first control device.
  • Control means may, in response to the modulated input signal, control the safety device to a safe state, wherein the first modulated input signal is applied to the trigger input of the hardware-based circuit device.
  • the modulated input signal is a static signal, which is recognized by the microprocessor of the first control device as an error signal, whereupon the microprocessor associated with the first control device first Safety relay deactivated.
  • the monoflop of the second control device is deactivated by the static input signal, so that also the second control device associated with the second safety relay is deactivated or remains.
  • Signal generating means of the first control device for generating a second monitoring signal formed.
  • the second monitoring signal also signals the current operating state of the first control device, in particular of the microprocessor.
  • Surveillance signals differ only in that, when it is an alternating signal, there is a phase shift between the two monitoring signals.
  • the input stage in this case is for modulating one of the first connectable
  • the signal generating means provides a second monitoring signal, wherein the first monitoring signal is passed via the externally connected passive sensor to the first and second control means, while the second Monitoring signal is passed through the externally connected sensor only to the first control device, without a linking device is required for this purpose.
  • Control device associated second safety relay which means that the safety device is moved or held in a safe state.
  • a safety device in which the signal generating device supplies a second monitoring signal, wherein the first monitoring signal is passed via an externally connected passive sensor to the first and second control device, while the second monitoring signal via the externally connected sensor only for first control device is performed.
  • Fig. 1 shows an exemplary multi-channel
  • the microprocessor 72 performs, for example, predefined diagnostic and / or monitoring functions which, when properly carried out, lead to the alternating signal shown in FIG. For example, a high level is generated as soon as the microprocessor 72 performs a safety-relevant monitoring routine, the high level being generated as long as the monitoring routine is being executed. During the monitoring routine, the microprocessor 72 may query predefined interfaces, the contents of the memory 74 and, depending on the implementation, other control points. If a started safety-relevant routine is not ended, then the monitoring signal remains in the static state, which represents a DC signal. Similarly, the monitor signal generator 71 generates a static low level unless a monitor routine is started at all.
  • the mode of operation of the safety device 10 shown in FIG. 1 will be explained in more detail below. Assume that the safety device 30 should be put into operation. As a result, a high level is applied to the AND gate 62 via the sensor 20. Further, it is assumed that the microprocessor 72 operates properly so that the monitor signal generator 71 generates the AC signal shown in FIG. 2 and applies it to the second input of the AND gate 62. At the output of the AND gate 62 appears the dynamic monitoring signal, both the
  • the sensor 20 signals, for example, an undesirable opening of a protective door.
  • a logic low level is generated, which also sets the output of the AND gate 62 to the logic low level.
  • the monostable 85 then generates at the Q output a low level, which controls the switch 86 such that the normally open contact 112 is opened, whereupon the safety device 30 is turned off.
  • the microprocessor 72 also recognizes from the modulated input signal that the sensor 20 has signaled an emergency 'and controls via the switch 76 the normally open contact 102 in the open state. In the present example, the safety device 30 is thus switched off by both control devices 70 and 80.
  • the safety relay 100 In the event that the safety relay 100 is functioning properly, in this case the positively driven NC contact 101 is closed and the operating voltage 50 is applied to the master reset input of the monoflop 85. When the sensor 20 again generates a high level, the industrial robot, as described above, can be switched back to the operating voltage V. If, however, that Safety relay 100 faulty, that is, the normally open contact 102 no longer opens, the normally closed contact 101 remains in the open state and there is no .On Enable signal applied to the monostable 85. Consequently, once the safety device 30 is switched off, it can no longer be switched on. Because in this case holds the monostable 85, the normally open contact 112 of the safety relay 110 in the open state.
  • the enable signal is applied to the monostable 85.
  • FIG. 3 shows a further multi-channel security device 10 ', which differs from the security device 10 shown in FIG. 1 in that the monitoring signal generating device 71 of the first control device 70 supplies two monitoring signals and a passive sensor 20, for example an emergency stop Button, via digital connections (not shown) to the safety device 10 'is connected.
  • the monitor signal generator 71 When the microprocessor 72 properly executes its specified functions, the monitor signal generator 71 generates the alternating signals shown in Fig. 4, which are only out of phase with each other. In this way, the to the Security device 10 'connected passive sensor 20 are queried two-channel, so as to detect short circuits and cross-overs in input lines 151 and 152 and in its output lines 150 and 155 can.
  • the operation of the safety device 10 'shown in FIG. 3 essentially corresponds to that of the safety device 10 shown in FIG. 1, in addition, as already mentioned, cross-connections between the output lines 150 and 155 and the input lines 151 and 152 and short circuits of the output lines 150 and 155 and / or the input lines 151 and 152 can be determined. Occurs, for example, a short circuit between the output line 155 and ground or the input line 151 and ground, a low level is applied to the corresponding input v of the AND gate 64, which results in that the output of the AND gate 64 is at a low level lies. This state is signaled to the microprocessor 72, which detects an error from the reported state. Thereafter, the microprocessor controls the switch 76 in the drive circuit of the safety relay 100 so that the normally open contact 102 is opened and thus the safety device 30 can be switched off.
  • the input of the AND gate 62 connected to the lead 150 is set low when a short on line 150 or 152 to ground has occurred.
  • a logic zero at the input of the AND gate 62 ensures that the output is also at logic zero, so that the monoflop 85 also supplies a logic zero at the output.
  • the switch 86 is actuated such that the normally open contact 112 is opened and thus the safety device 30 is switched off.
  • the microprocessor 72 controls the switch 76 in response to the logic zero at the output of the AND gate 62 so that the normally open contact 102 is opened and thus the safety device 30 is turned off.
  • the safety device it is now possible for the second, hardware-based control device 80 to check the correct functioning of the safety relay 100 assigned to the first control device 70 and to ensure that the safety-related device 30 is switched off in the event of a fault. This also ensures that the second, hardware-based control device 80 to check the correct functioning of the safety relay 100 assigned to the first control device 70 and to ensure that the safety-related device 30 is switched off in the event of a fault. This also ensures that the second, hardware-based control device 80 to check the correct functioning of the safety relay 100 assigned to the first control device 70 and to ensure that the safety-related device 30 is switched off in the event of a fault. This also ensures that the second
  • Control device 80 only starts operation when the enable signal of the channel 1 is present at the MR input.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

L'invention concerne un dispositif de sécurité à plusieurs canaux qui permet de commander par plusieurs canaux un dispositif (40) de la technique de sécurité qui présente un premier dispositif de commande (70) commandé par microprocesseur et un deuxième dispositif de commande (80). Le premier dispositif de commande (70) commandé par microprocesseur présente un système (71) de production de signaux qui produit un premier signal de surveillance qui indique l'état de fonctionnement actuel du premier dispositif de commande (70). En outre est prévu un dispositif de commutation (90) qui peut être commandé par le premier et le deuxième dispositif de commande (70, 80) et qui branche le dispositif (40) de la technique de sécurité ou peut l'amener dans un état protégé. Le deuxième dispositif de commande (80) présente une bascule monostable (85) qui, lorsqu'elle réagit au signal de surveillance, commande le dispositif de commutation (90) de telle sorte que le dispositif (40) de la technique de sécurité peut être amené dans un état protégé lorsque le premier dispositif de commande présente un défaut de fonctionnement. Un dispositif (50, 101) de production d'un signal de libération du deuxième dispositif de commande (80) est associé au premier dispositif de commande (70).
EP08773927.2A 2007-07-12 2008-07-09 Dispositif de sécurité pour la commande par plusieurs canaux d'un dispositif de la technique de sécurité Not-in-force EP2171549B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP10002850.5A EP2202592B1 (fr) 2007-07-12 2008-07-09 Dispositif de sécurité destiné à la commande à plusieurs canaux d'un dispositif de sécurité

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007032827A DE102007032827A1 (de) 2006-01-12 2007-07-12 Sicherheitsvorrichtung zum mehrkanaligen Steuern einer sicherheitstechnischen Einrichtung
PCT/EP2008/005600 WO2009007104A1 (fr) 2007-07-12 2008-07-09 Dispositif de sécurité pour la commande par plusieurs canaux d'un dispositif de la technique de sécurité

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP10002850.5A Division EP2202592B1 (fr) 2007-07-12 2008-07-09 Dispositif de sécurité destiné à la commande à plusieurs canaux d'un dispositif de sécurité
EP10002850.5A Division-Into EP2202592B1 (fr) 2007-07-12 2008-07-09 Dispositif de sécurité destiné à la commande à plusieurs canaux d'un dispositif de sécurité

Publications (2)

Publication Number Publication Date
EP2171549A1 true EP2171549A1 (fr) 2010-04-07
EP2171549B1 EP2171549B1 (fr) 2015-12-09

Family

ID=39798282

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08773927.2A Not-in-force EP2171549B1 (fr) 2007-07-12 2008-07-09 Dispositif de sécurité pour la commande par plusieurs canaux d'un dispositif de la technique de sécurité
EP10002850.5A Not-in-force EP2202592B1 (fr) 2007-07-12 2008-07-09 Dispositif de sécurité destiné à la commande à plusieurs canaux d'un dispositif de sécurité

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP10002850.5A Not-in-force EP2202592B1 (fr) 2007-07-12 2008-07-09 Dispositif de sécurité destiné à la commande à plusieurs canaux d'un dispositif de sécurité

Country Status (6)

Country Link
US (1) US8692420B2 (fr)
EP (2) EP2171549B1 (fr)
CN (1) CN101689042B (fr)
DE (1) DE102007032827A1 (fr)
ES (1) ES2557520T3 (fr)
WO (1) WO2009007104A1 (fr)

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DE102010054386B3 (de) 2010-12-06 2012-02-23 Pilz Gmbh. & Co. Kg Sicherheitsschaltgerät zum fehlersicheren Abschalten eines elektrischen Verbrauchers
US9483032B2 (en) * 2011-09-22 2016-11-01 Hamilton Sundstrand Corporation Multi-channel protection logic
WO2013080337A1 (fr) * 2011-11-30 2013-06-06 三菱電機株式会社 Système de commande, dispositif de commande, ligne de connexion et dispositif de pilotage
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DE102012010003A1 (de) * 2012-05-22 2013-11-28 Bizerba Gmbh & Co Kg Sicherheitsvorrichtung
CN104368403B (zh) * 2013-08-14 2018-10-30 海尔集团公司 一种生物安全柜紫外灯联动控制器及其控制方法
CN110109408B (zh) * 2018-02-01 2024-11-29 山西壹泰科电工设备有限公司 辐照加工设施安全系统
JP7329301B2 (ja) * 2019-12-13 2023-08-18 川崎重工業株式会社 安全信号出力装置、安全システム及び監視無効化方法
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Also Published As

Publication number Publication date
ES2557520T3 (es) 2016-01-26
CN101689042B (zh) 2012-09-19
US20100207720A1 (en) 2010-08-19
WO2009007104A1 (fr) 2009-01-15
EP2202592B1 (fr) 2017-03-08
US8692420B2 (en) 2014-04-08
DE102007032827A1 (de) 2009-01-15
EP2202592A2 (fr) 2010-06-30
EP2171549B1 (fr) 2015-12-09
CN101689042A (zh) 2010-03-31
EP2202592A3 (fr) 2013-03-27

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